Development Of Robotic Tool Calibration System Based On Laser Displacement Sensor

With the increasing degree of automation in manufacturing,the application of industrial robots is becoming more and more common.In the process of industrial robots,the end tools need to be replaced frequently in the face of different working conditions,and the vibration and collision during the machining process will cause the actual position of the tool to change.Therefore,it is necessary to re-position the actual position of the tool before each work.Calibration is performed to ensure the accuracy of the robotic machining system.Tool calibration ensures the accuracy of the actual motion trajectory of the tool during machining,so tool calibration technology plays an important role in the application of the robot.In order to realize the automatic calibration of the robot tool coordinate system,this paper mainly carries out the following work:This paper first elaborates on the widely used multi-point calibration method,and summarizes the advantages and disadvantages of this method.Based on this paper,a new method of tool coordinate system calibration based on laser displacement sensor is proposed and described in detail.The principle and steps of this tool coordinate system calibration method,and discusses the feasibility of the program to achieve automation of the calibration process.Based on MD-H kinematics modeling,the robot used in the experiment was calibrated by the laser tracker to obtain the accurate kinematics model of the robot.Then the tool coordinate system calibration experiment is carried out on the built-in automatic calibration system.The feasibility and calibration accuracy of the automatic calibration scheme proposed in this paper are verified by experiments,and the experimental details of the tool coordinate system calibration scheme are described in detail.According to the tool coordinate system calibration method proposed in this paper,the hardware system for automatic calibration of the robot tool coordinate system is built,and the corresponding software is developed.The complete calibration system theoretically enables automatic calibration of the tool coordinate system.In the calibration experiment of the tool coordinate system of this paper,a calibration needle is used for calibration,and the feasibility of automatic calibration of the tool coordinate system is verified by experiments.The feasibility of automatic calibration of the tool coordinate system is verified by experiments.At the same time,the accuracy of the calibration system is qualitatively verified.